How to get rid of a scuff mark on bodywork?

Oops, caught the neighbours bumper on his van with the back corner of the motorhome. Luckily no major damage just black scuffs and bit of a scratch. Anyone know what's best to use to try to get rid of black marks? Luckily the neighbour couldn't establish what was old/new damage to his van and was very nice about it...phew!